#include "kukaforcesensorguidedll.h"
#include "kukaforcesensorguideinstance_global.h"

KUKAForceSensorGuideDLL::KUKAForceSensorGuideDLL(){
    PLU_KPluginInstanceCreate(LOCALCONTOLLER);
}


KUKAForceSensorGuideDLL::~KUKAForceSensorGuideDLL(){
    PLU_KPluginInstanceDelete();
}

QWidget* KUKAForceSensorGuideDLL::RegisiterPluginUi(){
    return PLU_KPluginInstanceUiRegesiter();
}

void KUKAForceSensorGuideDLL::FastTimerLoop(){
    TASK_uifast_UiDataUpdate();
    TASK_uifast_ForceScopeUpdate();
    TASK_uifast_RobotScopeUpdate();
}
void KUKAForceSensorGuideDLL::SlowTimerLoop(){

}

void KUKAForceSensorGuideDLL::RegisterMainInitTask(){
    TASK_maininit_ForceSensorConnect();
}
void KUKAForceSensorGuideDLL::RegisterMainLoopTask(){
    TASK_mainloop_ForceSensorLoopRun();
}

void KUKAForceSensorGuideDLL::RegisterKUKAInitTask(){

}
void KUKAForceSensorGuideDLL::RegisterKUKALoopTask(){
    TASK_kukaloop_KUKADataProcess();
}


void KUKAForceSensorGuideDLL::BackendDataRecv(QByteArray Data){
//    TASK_RemoteDataRecv(Data);
}
void KUKAForceSensorGuideDLL::BackendDataSend(QByteArray& Data){
//    TASK_RemoteDataSend(Data);
}
